Trajectory optimization methods have been developed to solve nonconvex trajectory generation problems, i.e., optimal control problems with nonlinear dynamics and nonconvex constraints. Many different algorithms for trajectory optimization have been developed, such as sequential convex programming (SCP) [1]}, differential dynamics programming (DDP) [2]}, and Pontyagin's maximum principle (PMP) [3]}. With these developed methods, numerous studies have applied trajectory optimization to various applications including control of mobile robots [4]}, autonomous robotic manipulation [5]}, and powered descent guidance for spacecraft and reusable rockets [1]}.
